/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"
#include "pid.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_can.h"
#include "CAN_receive.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
int16_t led_cnt;
int16_t text_speed =800;
int16_t target_yaw_speed;
float target_yaw_angle = 500;
float now_yaw_angle;
extern moto_info_t motor_yaw_info;
extern pid_struct_t gimbal_yaw_speed_pid;
extern pid_struct_t gimbal_yaw_angle_pid;
#define pi 3.14159626 
 
double msp(double x, double in_min, double in_max, double out_min, double out_max)//????,??????(0~8191)??????????(-pi~pi)
{
	return (x-in_min)*(out_max-out_min)/(in_max-in_min)+out_min;
}

                 
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
//motor_measure_t *speed_rpm;
//motor_measure_t *ecd;
//motor_measure_t *given_current;
//motor_measure_t *temperate;
 const motor_measure_t *gimbal;

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_UART4_Init();
  /* USER CODE BEGIN 2 */
    can_filter_init();
		gimbal_PID_init();//PID???
//    CAN_cmd_chassis_reset_ID();
 HAL_CAN_RxFifo0MsgPendingCallback( &hcan1);
gimbal=get_yaw_gimbal_motor_measure_point();



  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
        
      led_cnt ++;
    if (led_cnt == 250)
    {
      led_cnt = 0;
      HAL_GPIO_TogglePin(GPIOH,GPIO_PIN_11); //blink cycle 500ms
    }
		
//		now_yaw_angle=msp(motor_yaw_info.rotor_angle,0,8191,-pi,pi);//???????????,??msp??????????????
 
		pid_calc(&gimbal_yaw_angle_pid,target_yaw_angle, now_yaw_angle);//???
		pid_calc(&gimbal_yaw_speed_pid,gimbal_yaw_angle_pid.output, motor_yaw_info.rotor_speed);//???
		
		set_GM6020_motor_voltage(&hcan1,gimbal_yaw_speed_pid.output);//can????,????PID??????
 
		HAL_Delay(40);
	}
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  CAN_RxHeaderTypeDef rx_header;
  uint8_t             rx_data[8];
  if(hcan->Instance == CAN1)
  {
  HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data); //receive can data
  switch(rx_header.StdId)
	{
	  case 0x205:
	{
    now_yaw_angle    = ((rx_data[0] << 8) | rx_data[1]);
    gimbal_yaw_speed_pid.output    = ((rx_data[2] << 8) | rx_data[3]);
    motor_yaw_info.torque_current = ((rx_data[4] << 8) | rx_data[5]);
    motor_yaw_info.temp           =   rx_data[6];
		break;
	}
	}
  }
}


/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
